From 7b37b3e55b26b5d277f7295b63d36c4239ca9dd9 Mon Sep 17 00:00:00 2001 From: Silvan Fuhrer Date: Fri, 6 Sep 2019 19:08:59 +0200 Subject: [PATCH] FW pos C: fix altitude control for VTOL/FW by also publishing attitude sp if in altitude, not only if position or velocity controlled Signed-off-by: Silvan Fuhrer --- src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp index 9b9da3684516..b52716143d3a 100644 --- a/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp +++ b/src/modules/fw_pos_control_l1/FixedwingPositionControl.cpp @@ -1746,7 +1746,8 @@ FixedwingPositionControl::Run() if (_control_mode.flag_control_offboard_enabled || _control_mode.flag_control_position_enabled || _control_mode.flag_control_velocity_enabled || - _control_mode.flag_control_acceleration_enabled) { + _control_mode.flag_control_acceleration_enabled || + _control_mode.flag_control_altitude_enabled) { /* lazily publish the setpoint only once available */ if (_attitude_sp_pub != nullptr) {